lbr_bringup

The lbr_bringup package hosts some launch files, which can be included via standard procedures:

from launch import LaunchDescription
from launch.actions import IncludeLaunchDescription
from launch.substitutions import PathSubstitution
from launch_ros.substitutions import FindPackageShare


def generate_launch_description() -> LaunchDescription:
    return LaunchDescription(
        [
            IncludeLaunchDescription(
                PathSubstitution(
                    FindPackageShare("lbr_bringup") / "launch" / "mock.launch.py"
                )
            )
        ]
    )

The launch files can also be run via the command line, as further described below.

Launch Files

Mock Setup

Useful for running a physics-free simulation of the system. This launch file will (see mock.launch.py):

1. Run the robot_state_publisher

2. Run the ros2_control_node with mock components as loaded from robot_description

3. Load ros2_controllers

ros2 launch lbr_bringup mock.launch.py \
    model:=iiwa7 # [iiwa7, iiwa14, med7, med14]

Note

List all arguments for the launch file via ros2 launch lbr_bringup mock.launch.py -s.

Gazebo Simulation

Useful for running a physics simulation the the system. This launch file will will (see gazebo.launch.py):

1. Start the robot_state_publisher

2. Start the Gazebo simulation

3. Spawn the selected robot model (includes the ros2_control_node within the Gazebo plugin)

4. Load ros2_controllers

ros2 launch lbr_bringup gazebo.launch.py \
    model:=iiwa7 # [iiwa7, iiwa14, med7, med14]

Note

List all arguments for the launch file via ros2 launch lbr_bringup gazebo.launch.py -s.

Hardware

Warning

Do always execute in T1 mode first.

Note

Make sure you have followed Hardware Setup first.

1. Client side configurations:

   Launch the LBRServer application on the KUKA smartPAD

   

   Select

   • FRI send period: 10 ms

   • IP address: your configuration

   • FRI control mode: POSITION_CONTROL or JOINT_IMPEDANCE_CONTROL

   • FRI client command mode: POSITION

2. Launch file:

   This launch file will (see hardware.launch.py):

   1. Run the robot_state_publisher

   2. Run the ros2_control_node with the lbr_fri_ros2::SystemInterface plugin from lbr_ros2_control as loaded from robot_description (which will attempt to establish a connection to the real robot).

   3. Load ros2_controllers

   ros2 launch lbr_bringup hardware.launch.py \
       model:=iiwa7 # [iiwa7, iiwa14, med7, med14]
   

   Note

   List all arguments for the launch file via ros2 launch lbr_bringup hardware.launch.py -s.

RViz

This launch file will spin up RViz for visualization. It will (see rviz.launch.py):

1. Read RViz configurations.

2. Run RViz.

ros2 launch lbr_bringup rviz.launch.py \
        rviz_cfg_pkg:=lbr_bringup \
        rviz_cfg:=config/mock.rviz # [gazebo.rviz, hardware.rviz, mock.rviz]

Note

List all arguments for the launch file via ros2 launch lbr_bringup rviz.launch.py -s.

Note

Requires the user to run Mock Setup, Gazebo Simulation or Hardware first.

MoveIt

Please note that MoveIt configurations are specific and you as a user will need to create your own for your system (potentially containing multiple robots or an end-effector).

ros2 launch lbr_bringup move_group.launch.py \
    model:=iiwa7 \
    mode:=mock \
    rviz:=true

Note

Requires the user to run Mock Setup, Gazebo Simulation or Hardware first.

Note

Runs RViz with specific MoveIt configurations.

General Information on the FRI

The FRI lets the user select a FRI control mode and a FRI client command mode. When running the LBRServer:

• Select FRI control mode

  
• Select FRI client command mode

  

The FRI control mode specifies the mode in which the robot is controlled, and the FRI client command mode specifies the commands that the user sends.

Troubleshooting

Noisy Execution

• Frequency: Make sure the ros2_control_node frequency and the FRI send period are compatible, consider changing update_rate in hardware.yaml.

• Realtime priority: Set real time priority in code /etc/security/limits.conf, add the line: user - rtprio 99, where user is your username.